| 弹药装填机械手关节电机系统非线性控制研究 |
| |
| 引用本文： | 李华,徐达,张健,庞鸿瑞.弹药装填机械手关节电机系统非线性控制研究[J].太原理工大学学报,2011,42(3):301-304. |
| |
| 作者姓名： | 李华 徐达 张健 庞鸿瑞 |
| |
| 作者单位： | 1. 装甲兵工程学院,北京,100072
2. 太原理工大学人事处,太原,030024 |
| |
| 基金项目： | 装甲兵工程学院创新工程项目 |
| |
| 摘 要： | 针对弹药自动装填机械手关节电机传动系统的非线性自振荡和反应滞后造成的装填延时和误差,在分析了关节电机系统非线性环节耦合运动及其对关节电机影响的基础上,采用神经网络补偿控制策略,有效地减小了关节电机传动系统的反应滞后,抑制了冲击扰动,极大程度上改善了关节电机系统非线性对关节电机传动系统的影响,提高了弹药装填反应时间和装填精度。
|
| 关 键 词： | 弹药装填机械手 关节电机非线性 神经网络 |
Study on Nonlinear Control of Joint Motor of Auto Loading Manipulator for Ammunition |
| |
| LI Hua,XU Da,ZHANG Jian,PANG Hong-rui.Study on Nonlinear Control of Joint Motor of Auto Loading Manipulator for Ammunition[J].Journal of Taiyuan University of Technology,2011,42(3):301-304. |
| |
| Authors: | LI Hua XU Da ZHANG Jian PANG Hong-rui |
| |
| Institution: | LI Hua1,XU Da1,ZHANG Jian1,PANG Hong-rui2(1.Academy of Armored Forces Engineering,Beijing 100072,China,2.Taiyuan University of Technology,Taiyuan 030024,China) |
| |
| Abstract: | Aimed at nonlinear backlash self oscillation and reaction lag of joint motor drive system of auto loading manipulator for ammunition,the lifluence of nonlinear element coupled motions of backlash on joint motors was analyzed,and a neural network compensate control was adopted to decrease reaction lag of joint motor drive system,restrain disturbance,significantly improve the influence of nonlinear element coupled motions of backlash on joint motors,and increase loading reaction time and precision of ammuniti... |
| |
| Keywords: | auto loading for ammunition manipulator nonlinear backlash neural network |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
